AI 中文总结
提出一种基于有限时间滑模的自主对接策略，利用距离和视线运动学使车辆在三维空间中安全对齐并减速至零速完成对接，通过MATLAB仿真验证了有效性。
AI 中文摘要
在这封信中，我们提出了一种自主车辆在三维空间中自主对接的策略。对接是一项安全关键任务，需要专业的驾驶技能。具有自主对接能力的车辆在多种应用中非常受欢迎，例如海洋车辆对接、空中车辆对接、航天器对接和着陆。为了与对接站自主对接，车辆必须相对于对接站调整到特定的期望方向，并在接近时减速。车辆实现接近零速度以成功且安全地对接，而不会与对接站碰撞。受制导文献理念的启发，我们提出了一种基于有限时间滑模的策略来实现这一目标。描述车辆相对于固定对接站运动的距离和视线运动学用于引导车辆实现对接所需的期望方向。该对接策略在MATLAB®仿真中针对车辆和对接站的各种初始位置和方向进行了验证。
英文摘要
In this letter, we present a strategy for autonomous docking of autonomous vehicles in three-dimensional space. Docking is a safety-critical task and requires expert piloting skills. Vehicles with autonomous docking capabilities are highly desirable in various applications, such as marine vehicle docking, aerial vehicle docking, spacecraft docking, and landing. To dock autonomously with the docking station, the vehicle must align itself to a specific desired orientation relative to the docking station and also reduce speed as it approaches. The vehicle achieves near-zero speed to dock successfully and safely without colliding with the docking station. Inspired by the philosophies from the guidance literature, we present a finite-time sliding mode-based strategy to achieve the same. The range and line-of-sight kinematics relations describing the motion of the vehicle with respect to the stationary docking station are used to steer the vehicle to achieve the desired orientation for docking. This docking strategy is validated in MATLAB\textsuperscript{\textregistered} simulations for various initial locations and orientations of both the vehicle and the docking station.
